The complex and time-varying marine environment puts forward demanding requirements for the structural design and algorithm development of unmanned underwater vehicles (UUVs). It is inevitable to repeatedly evaluate the feasibility of autonomy scheme...
In many aquaculture farms, Unmanned Underwater Vehicles (UUVs) are being deployed to perform dangerous and time-consuming repetitive tasks (e.g., fish net-pen visual inspection) on behalf of or in collaboration with farm operators. Mostly, they are r...
Deep reinforcement learning is an artificial intelligence technology that combines deep learning and reinforcement learning and has been widely applied in multiple fields. As a type of deep reinforcement learning algorithm, the A3C (Asynchronous Adva...
The complex underwater environment poses significant challenges for unmanned underwater vehicles (UUVs), particularly in terms of communication constraints and the need for precise cooperative obstacle avoidance and trajectory tracking. Addressing th...
Unmanned underwater vehicles (UUV) face maneuverability and rapidity challenges when they are applied for detecting and repairing submarine oil and gas pipelines, and fiber cables near the seabed. This research establishes numerical models of the bar...
Aiming to address the problem of regional dynamic target search under weak communication conditions, this paper proposes a UUV cluster search method based on cumulative probability optimization. First, by estimating the probability distribution of th...
This work studied two sub-problems of the cooperative state estimation and cooperative optimization of tracking paths in multiple unmanned underwater vehicle (multi-UUV) cooperative target tracking. The mathematical model of each component of the mul...
In order to identify and attack the multi-UUV (unmanned underwater vehicle) groups, this paper proposes a method for identifying the critical nodes of multi-UUV formations. This method helps in combating multi-UUV formations by identifying the key no...
Formation rendezvous is a critical phase during the deployment or recovery of multiple unmanned underwater vehicles (UUVs) in cooperative missions, and represents one of the core problems in multi-UUV cooperative planning. In practical marine environ...
Trajectory tracking control refers to the movement of an unmanned underwater vehicle (UUV) along a desired trajectory, which is a critical technology for the underwater tasks of UUVs. However, in actual scenarios, the reaction torque of propellers in...
The authors propose a novel unmanned underwater vehicle (UUV) based on a piezoelectric smart element, which facilitates piezoelectric energy harvesting as well as piezoelectric vibration reduction. In this report, the operating principle of the UUV i...
This paper addresses the challenges faced by icebreakers in polar environments, particularly the difficulty in sensing underwater ice formations when navigating through thick ice layers, which often results in suboptimal icebreaking effectiveness. To...
In this paper, the issue that the underwater unmanned vehicle (UUV) with a sonar array achieves the passive detection of vessel targets by detecting the tones radiated from the targets is considered. The multi-beam low-frequency analysis and recordin...
The formation rendezvous of multiple underwater unmanned vehicles (UUVs) necessitates comprehensive consideration of various complex constraints, including kinematics, collision avoidance, and communication. However, existing methods inadequately add...
Path planning is necessary in many applications using unmanned underwater vehicles (UUVs). The main class of tasks is the planning of safe routes with minimal energy costs and/or minimal levels of emitted physical and information signals. Since the a...
The problem of optimal trajectory planning of the unmanned underwater vehicle (UUV) is considered and analytically solved. The task is to minimize the risk of detection of the moving object by a static sonar while moving between two given points on a...
This paper presents the development of an unmanned underwater vehicle (UUV) platform, especially the derivation of the vehicle’s simulation model and its control method to overcome strong sea current. The platform is designed to have a flattene...
This study addresses autonomous underwater vehicle (UUV) recovery onto dynamic docking stations by proposing a fork-column recovery control system with a segmented docking strategy (long-distance approach + guided descent). To enhance model fidelity,...
This paper investigates the stability issues of the Unmanned Surface Vehicle (USV)–Unmanned Underwater Vehicle (ROV) system induced by cable loads under real marine conditions and high-speed operation. This study focuses on the dynamic coupling...
Researchers are currently conducting several studies in the field of navigation systems and sensors. Even in the past, there was a lot of research regarding the field of velocity sensors for unmanned underwater vehicles (UUVs). UUVs have various serv...
This paper proposes a novel SDA-Mask R-CNN framework for precise seabed terrain edge feature extraction from Side-Scan Sonar (SSS) images to enhance Unmanned Underwater Vehicle (UUV) perception and navigation. The developed architecture addresses cri...
This study investigates the effectiveness of UUV formations during navigation to designated target areas. The research focuses on propeller-equipped UUVs and employs a computational fluid dynamics (CFD) methodology to analyze the hydrodynamic interac...
To address the search-and-docking problem in multi-stage prescribed performance switching (MPPS) scenarios, this paper presents a novel compound control method for three-dimensional (3D) underwater trajectory tracking control of unmanned underwater v...
Cooperative navigation is a fundamental enabling technology for unlocking the full potential of Unmanned Underwater Vehicle (UUV) clusters in GNSS-denied environments. However, the severe constraints of the underwater acoustic channel, such as high l...
Autonomous navigation and positioning are key to the successful performance of unmanned underwater vehicles (UUVs) in environmental monitoring, oceanographic mapping, and critical marine infrastructure inspections in the sea. Cameras have been at the...
In a departure from the past, unmanned underwater vehicles (UUVs) and unmanned surface vehicles (USVs) are increasingly needed for complementary cooperation in military, scientific, and commercial applications, because this is more efficient than sta...
Aiming at the task allocation problem of heterogeneous unmanned underwater vehicle (UUV) swarms, this paper proposes a dynamic extended consensus-based bundle algorithm (DECBBA) based on consistency algorithm. Our algorithm considers the multi-UUV ta...
Unmanned underwater vehicles (UUVs) have rapidly developed as mobile sensor networks recently in the investigation, survey, and exploration of the underwater environment. The goal of this paper is to develop a practical and efficient formation contro...
The inspection of aquatic environments is a challenging activity, which is made more difficult if the environment is complex or confined, such as those that are found in nuclear storage facilities and accident sites, marinas and boatyards, liquid sto...
This article studies the cooperative underwater payload transportation problem for multiple unmanned underwater vehicles (UUVs) operating in a constrained workspace with both static and dynamic obstacles. A novel cooperative formation control algorit...
This manuscript compares deterministic artificial intelligence to a model-following control applied to DC motor control, including an evaluation of the threshold computation rate to let unmanned underwater vehicles correctly follow the challenging di...
The unmanned underwater vehicle (UUV) group composed of UUVs carrying different kinds of detection equipment is powerful for underwater target searching and detection. In this paper, a formation transformation method, used while the mission of the UU...
This study investigates the dynamic formation reconfiguration problem for multi-UUV (multi-Unmanned Underwater Vehicle) systems, with a particular focus on the challenges posed by underwater acoustic communication. A two-dimensional grid model is est...
To address the challenge of low trajectory tracking accuracy for underactuated unmanned underwater vehicles (UUVs) under external disturbances, this study proposes a method integrating backstepping control with improved active disturbance rejection c...
In the dynamic task allocation of unmanned underwater vehicles (UUVs), the schemes of UUVs need to be quickly reallocated to respond to emergencies. The most common heuristic allocation method uses predesigned optimization rules to iteratively obtain...
The development and utilization of marine resources by humanity are increasing rapidly, and a single unmanned underwater vehicle (UUV) is insufficient to meet the demands of ocean exploitation. Large-scale UUV swarms present a primary solution; howev...
The major premise of deterministic artificial intelligence (D.A.I.) is to assert deterministic self-awareness statements based in either the physics of the underlying problem or system identification to establish governing differential equations. The...
This paper describes a study on the dynamic modeling and the motion simulation of an unmanned ocean platform to overcome the limitations of existing unmanned ocean platforms for ocean exploration. The proposed unmanned ocean vehicle combines an unman...
A UUV can perform tasks such as underwater surveillance, reconnaissance, surveillance, and tracking by being equipped with sensors and different task modules. Due to the complex underwater environment, the UUV must have good collision avoidance plann...
The precision and efficiency of multi-target path planning are crucial factors influencing the performance of anti-mine operations using unmanned underwater vehicles (UUVs). Addressing the inadequacies in computation time and solution quality present...
For multiple unmanned underwater vehicles (UUVs) systems, obstacle avoidance during cooperative operation in complex marine environments remains a challenging issue. Recent studies demonstrate the effectiveness of deep reinforcement learning (DRL) fo...
To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs) in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important p...
The autonomous navigation of an Unmanned Underwater Vehicle (UUV) in unknown 3D underwater environments remains a challenging task due to the presence of complex terrain, uncertain obstacles, and strict kinematic constraints. This paper proposes a no...
UUVs (unmanned underwater vehicles) perform tasks in the marine environment under direction from a commander through a mother ship control system. In cases where communication is available, a UUV task re-planning system was designed to ensure task co...
In modern marine warfare, unmanned underwater vehicles (UUVs) have fast and efficient attack capabilities. However, existing research on UUV attack strategies is relatively limited, often ignoring the requirement for the effective allocation of diffe...
Unmanned underwater vehicles (UUVs) have become increasingly popular in recent years due to their use in various applications. The motivations for using UUVs include the exploration of difficult and dangerous underwater environments, military tasks i...
Unmanned underwater vehicles (UUV) are widely used tools in ocean development, which can be applied in areas such as marine scientific research, ocean resources exploration, and ocean security. However, as ocean exploration advances, UUVs face increa...
The use of unmanned aerial vehicles (UAVs) for different applications has increased tremendously during the past decade. The small size, high maneuverability, ability to fly at predetermined coordinates, simple construction, and affordable price have...
In this paper, in order to overcome certain limitations of previously commercialized platforms, a new integrated unmanned surface vehicle (USV) and unmanned underwater vehicle (UUV) platform connected via underwater cable capable of acquiring real-ti...
To solve the unavailability of a traditional strapdown inertial navigation system (SINS) for unmanned underwater vehicles (UUVs) in the polar region, a polar grid navigation algorithm for UUVs is proposed in this paper. Precise navigation is the basi...
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